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Multi-degree-of-freedom mixed drive artificial muscle

A hybrid drive, artificial muscle technology, applied in the fields of intelligent materials, bionics, and pneumatic muscles, can solve the problems of insufficient muscle strength of fishing lines, troublesome heating, etc., and achieve high power-to-weight ratio, good flexibility, and increased bending freedom. Effect

Active Publication Date: 2019-03-05
NORTHEASTERN UNIV LIAONING
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the muscle strength of the fishing line formed by pure thin fishing line is insufficient, and it is troublesome to heat

Method used

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  • Multi-degree-of-freedom mixed drive artificial muscle
  • Multi-degree-of-freedom mixed drive artificial muscle
  • Multi-degree-of-freedom mixed drive artificial muscle

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Embodiment Construction

[0018] figure 1 It is a schematic diagram of a multi-degree-of-freedom hybrid-driven artificial muscle structure. The specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0019] A. A layer of PET braided mesh is installed outside the elastic rubber tube, and the two ends are sealed and fastened by inner plug members and outer clamps. In addition, there is a threaded through hole in the middle of the inner plug member for front-end sealing, and the pneumatic joint is connected by thread connection, and the pneumatic joint is connected to the external air pipe to inflate and deflate the rubber pipe. There is a threaded hole with a certain depth on the inner plug member for sealing the rear end, and the rear end fixing frame is fixed by screwing in the screw.

[0020] B. The initial braiding angle of the braided net outside the elastic rubber tube is greater than 54°, which satisfies the requirement tha...

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Abstract

The invention discloses a multi-degree-of-freedom hybrid driven artificial muscle. A polyethylene terephthalate braided mesh is installed outside the elastic rubber tube. Both ends of the elastic rubber tube are sealed with outer clamps and inner plugs. A front-end fixed frame and a pneumatic joint are installed on the front-end inner plug. There is a rear end fixing frame installed on the end inner plug. There are three guide frames equidistantly placed longitudinally between the two fixing frames. Four shape memory alloy-nylon fishing line muscles are evenly distributed along the circumferential direction between the two fixing frames. fiber. The initial braiding angle of the braided mesh on the outside of the elastic rubber tube is greater than 54°. When the inside of the rubber tube is subject to air pressure, axial displacement and axial driving force are generated. Pulse current is used to heat shape memory alloy-nylon fishing line muscle fibers to achieve bending deformation of hybrid artificial muscles. The positive effect of the present invention is that it improves the driving characteristics of the elongated pneumatic muscle, increases the degree of freedom of the elongated pneumatic muscle, and can be used in the field of bionic robots that require high-precision and compliant driving.

Description

technical field [0001] The invention relates to a multi-degree-of-freedom mixed driving artificial muscle, which belongs to the technical field of pneumatic muscle, the field of intelligent materials and the field of bionics. Background technique [0002] Pneumatic artificial muscle, as a new type of bionic drive, was first proposed by the former Soviet Union S.Garasiev in 1930, after which various similar inventions appeared. For example, the United States invented the Mckibben type pneumatic muscle, Japan developed the Rubbertuator pneumatic muscle, and the United Kingdom produced the Air Muscle pneumatic muscle. With the continuous use and development of pneumatic muscles, commercial production has been realized at present. The relatively large manufacturers of pneumatic muscles include Shadow Company of the United Kingdom and Festo Company of Germany. This traditional type of pneumatic muscle is mainly composed of an elastic rubber tube, an external braided mesh that co...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/10B25J9/14
CPCB25J9/1075B25J9/142
Inventor 郝丽娜薛帮灿杨辉项超群
Owner NORTHEASTERN UNIV LIAONING
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